Active haptic exploration for 3D shape reconstruction.

by Fung Wai Keung.Thesis (M.Phil.)--Chinese University of Hong Kong, 1996.Includes bibliographical references (leaves 146-151).Acknowledgements --- p.viiiAbstract --- p.1Chapter 1 --- Overview --- p.3Chapter 1.1 --- Tactile Sensing in Human and Robot --- p.4Chapter 1.1.1 --- Human Hands and Robotic Hands --- p.4Chapter 1.1.2 --- Mechanoreceptors in skin and Tactile Sensor Arrays --- p.7Chapter 1.2 --- Motivation --- p.12Chapter 1.3 --- Objectives --- p.13Chapter 1.4 --- Related Work --- p.14Chapter 1.4.1 --- Using Vision Alone --- p.15Chapter 1.4.2 --- Integration of Vision and Touch --- p.15Chapter 1.4.3 --- Using Touch Sensing Alone --- p.17Chapter 1.4.3.1 --- Ronald S. Fearing's Work --- p.18Chapter 1.4.3.2 --- Peter K. Allen's Work --- p.22Chapter 1.5 --- Outline --- p.26Chapter 2 --- Geometric Models --- p.27Chapter 2.1 --- Introduction --- p.27Chapter 2.2 --- Superquadrics --- p.27Chapter 2.2.1 --- 2D Superquadrics --- p.27Chapter 2.2.2 --- 3D Superquadrics --- p.29Chapter 2.3 --- Model Recovery of Superquadric Models --- p.31Chapter 2.3.1 --- Problem Formulation --- p.31Chapter 2.3.2 --- Least Squares Optimization --- p.33Chapter 2.4 --- Free-Form Deformations --- p.34Chapter 2.4.1 --- Bernstein Basis --- p.36Chapter 2.4.2 --- B-Spline Basis --- p.38Chapter 2.5 --- Other Geometric Models --- p.41Chapter 2.5.1 --- Generalized Cylinders --- p.41Chapter 2.5.2 --- Hyperquadrics --- p.42Chapter 2.5.3 --- Polyhedral Models --- p.44Chapter 2.5.4 --- Function Representation --- p.45Chapter 3 --- Sensing Strategy --- p.54Chapter 3.1 --- Introduction --- p.54Chapter 3.2 --- Sensing Algorithm --- p.55Chapter 3.2.1 --- Assumption of objects --- p.55Chapter 3.2.2 --- Haptic Exploration Procedures --- p.56Chapter 3.3 --- Contour Tracing --- p.58Chapter 3.4 --- Tactile Sensor Data Preprocessing --- p.59Chapter 3.4.1 --- Data Transformation and Sensor Calibration --- p.60Chapter 3.4.2 --- Noise Filtering --- p.61Chapter 3.5 --- Curvature Determination --- p.64Chapter 3.6 --- Step Size Determination --- p.73Chapter 4 --- 3D Shape Reconstruction --- p.80Chapter 4.1 --- Introduction --- p.80Chapter 4.2 --- Correspondence Problem --- p.81Chapter 4.2.1 --- Affine Invariance Property of B-splines --- p.84Chapter 4.2.2 --- Point Inversion Problem --- p.87Chapter 4.3 --- Parameter Triple Interpolation --- p.91Chapter 4.4 --- 3D Object Shape Reconstruction --- p.94Chapter 4.4.1 --- Heuristic Approach --- p.94Chapter 4.4.2 --- Closed Contour Recovery --- p.97Chapter 4.4.3 --- Control Lattice Recovery --- p.102Chapter 5 --- Implementation --- p.105Chapter 5.1 --- Introduction --- p.105Chapter 5.2 --- Implementation Tool - MATLAB --- p.105Chapter 5.2.1 --- Optimization Toolbox --- p.107Chapter 5.2.2 --- Splines Toolbox --- p.108Chapter 5.3 --- Geometric Model Implementation --- p.109Chapter 5.3.1 --- FFD Examples --- p.111Chapter 5.4 --- Shape Reconstruction Implementation --- p.112Chapter 5.5 --- 3D Model Reconstruction Examples --- p.120Chapter 5.5.1 --- Example 1 --- p.120Chapter 5.5.2 --- Example 2 --- p.121Chapter 6 --- Conclusion --- p.128Chapter 6.1 --- Future Work --- p.129Appendix --- p.133Bibliography --- p.14